This dataset was created using LeRobot.

Dataset Description

• Homepage: [More Information Needed]
• Paper: [More Information Needed]
• License: apache-2.0

Dataset Structure

meta/info.json:

{
    "codebase_version": "v3.0",
    "robot_type": "inspire_f1",
    "total_episodes": 507,
    "total_frames": 324423,
    "total_tasks": 1,
    "chunks_size": 1000,
    "data_files_size_in_mb": 100,
    "video_files_size_in_mb": 200,
    "fps": 30,
    "splits": {
        "train": "0:507"
    },
    "data_path": "data/chunk-{chunk_index:03d}/file-{file_index:03d}.parquet",
    "video_path": "videos/{video_key}/chunk-{chunk_index:03d}/file-{file_index:03d}.mp4",
    "features": {
        "observation.state": {
            "dtype": "float32",
            "shape": [
                21
            ],
            "names": {
                "axes": [
                    "arm_pose_x",
                    "arm_pose_y",
                    "arm_pose_z",
                    "arm_pose_rot6d_0",
                    "arm_pose_rot6d_1",
                    "arm_pose_rot6d_2",
                    "arm_pose_rot6d_3",
                    "arm_pose_rot6d_4",
                    "arm_pose_rot6d_5",
                    "arm_joint_0",
                    "arm_joint_1",
                    "arm_joint_2",
                    "arm_joint_3",
                    "arm_joint_4",
                    "arm_joint_5",
                    "hand_joint_0",
                    "hand_joint_1",
                    "hand_joint_2",
                    "hand_joint_3",
                    "hand_joint_4",
                    "hand_joint_5"
                ]
            }
        },
        "action": {
            "dtype": "float32",
            "shape": [
                15
            ],
            "names": {
                "axes": [
                    "arm_action_x",
                    "arm_action_y",
                    "arm_action_z",
                    "arm_action_rot6d_0",
                    "arm_action_rot6d_1",
                    "arm_action_rot6d_2",
                    "arm_action_rot6d_3",
                    "arm_action_rot6d_4",
                    "arm_action_rot6d_5",
                    "hand_joint_0",
                    "hand_joint_1",
                    "hand_joint_2",
                    "hand_joint_3",
                    "hand_joint_4",
                    "hand_joint_5"
                ]
            }
        },
        "observation.images.cam_25452066": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_23012641": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "observation.images.cam_23022639": {
            "dtype": "video",
            "shape": [
                480,
                640,
                3
            ],
            "names": [
                "height",
                "width",
                "channels"
            ],
            "info": {
                "video.height": 480,
                "video.width": 640,
                "video.codec": "h264",
                "video.pix_fmt": "yuv420p",
                "video.is_depth_map": false,
                "video.fps": 30,
                "video.channels": 3,
                "has_audio": false
            }
        },
        "timestamp": {
            "dtype": "float32",
            "shape": [
                1
            ],
            "names": null
        },
        "frame_index": {
            "dtype": "int64",
            "shape": [
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            ],
            "names": null
        },
        "episode_index": {
            "dtype": "int64",
            "shape": [
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            "names": null
        },
        "index": {
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            "shape": [
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            "names": null
        },
        "task_index": {
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            "names": null
        }
    }
}

Citation

BibTeX:

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